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Meanwhile, in 12-inch skillet, heat oil on medium. Add onion and garlic; cook 2 to 3 minutes or until golden, stirring occasionally. Add grape tomatoes; cook 5 minutes or until beginning to soften. Add asparagus, zucchini, water, and 1/4 teaspoon salt. Cover and cook 5 to 7 minutes or until tomatoes begin to burst. Stir in beans and carrot; cook 2 to 3 minutes or until beans are heated through.
Reserve 1/2 cup pasta cooking water. Drain pasta; return to saucepot and add vegetable mixture, Parmesan, lemon juice, reserved cooking water, and 1/4 teaspoon salt; toss until combined. Divide among serving bowls; garnish with basil.